JP2020137466A - Harvesting work method - Google Patents

Abstract

To provide a harvesting work method capable of preventing contact of a combine.SOLUTION: A first combine (1A) is allowed to travel along a first harvesting route set beforehand, and to perform a harvesting work of grain culms planted near a ridge on a field, and thereafter moved to the outside of the field. Then, after moving the first combine (1A) to the outside of the field, a second combine (1B) is moved to the inside of the field, and then allowed to perform a harvesting work of unharvested grain culms along a second harvesting route set beforehand.SELECTED DRAWING: Figure 9

Description

The present invention relates to a method for cutting a grain culm using a plurality of combines.

In the conventional culm reaping work method, in the culm reaping work method, a plurality of combines brought into the field travel along a reaping route set based on the signal of each positioning satellite. There are known ways to perform harvesting work. (See Patent Document 1)

JP-A-2018-108034

However, in the conventional harvesting work method, when an abnormality occurs in the combine's communication means or the communication from the positioning satellite is cut off, the combine harvesting work is performed in the same field. There was a risk of contact.

Therefore, the present invention is to provide a cutting work method capable of preventing the contact of the combine.

The present invention that solves the above problems is as follows.
That is, the invention according to claim 1 is a cutting work method for cutting a grain culm planted in a field using a plurality of combines.
The first combine (1A) is run along the preset first cutting route to cut the grain culms planted near the ridges of the field, and then moved to the outside of the field to perform the second cutting. After the first combine (1A) has moved to the outside of the field, the combine (1B) is moved to the inside of the field, and the uncut culm is cut along a preset second cutting route. It is a harvesting work method characterized by being harvested.

In the invention according to claim 2, the first cutting route is set as a route that orbits the outer peripheral portion of the field in a counterclockwise direction, and the second cutting route is set in a counterclockwise direction inside the first cutting route. The mowing work method according to claim 1, which is set as a circuit path or a third route which goes straight from one side of the field to the other side and then changes direction and goes straight from the other side to the other side.

According to the third aspect of the present invention, the number of cutting lines of the first cutting device (4A) provided in the first combine (1A) is the same as the number of cutting lines of the second cutting device (4B) provided in the second combine (1B). The cutting work method according to claim 1 or 2, which is set to be less than the number of articles.

According to the fourth aspect of the present invention, a space for changing the direction of the second combine (1B) is formed on the outer periphery of the field by the cutting operation along the first cutting route of the first combine (1A). The cutting work method according to any one of Items 1 to 3.

In the invention according to claim 5, the positions of the first combine (1A) and the second combine (1B) are based on information from the positioning satellite (11) and the base station (12) whose positions are known in advance. The harvesting work method according to any one of claims 1 to 4, which is calculated.

According to the invention of claim 6, in the second combine (1B), the first combine (1A) is moved to the outside of the first field by the communication unit (23B) provided in the second combine (1B). After receiving the information, the harvester moves to the inside of the first field to perform cutting work, and after receiving the information that the first combine (1A) has moved to the outside of the second field by the communication unit (23B). The harvesting work method according to any one of claims 1 to 5, wherein the harvesting work is performed by moving to the inside of the second field.

According to the invention of claim 1, since the first combine (1A) moves to the outside of the field and then the second combine (1B) moves to the inside of the field, the first combine harvester (1B) moves to the inside of the field even if a failure occurs in the communication means. The contact between the combine (1A) and the second combine (1B) can be prevented. When a small / medium-sized combine is selected as the first combine (1A) and a large combine is selected as the second combine (1B), the first combine (1A), which is lightweight and has a small turning radius, is a soft ground. By cutting the outer periphery of the field where there are many harvesters, it is possible to reduce running troubles due to subsidence, shorten the cutting work time, and reduce the uncut residue of the combine harvester planted at the ridge. In addition, the second combine (1B), which can harvest many culms at one time, can be used to harvest the inside of the field, which can significantly reduce the harvesting work time and improve the efficiency of the harvesting work. Can be done.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, the grain harvester planted in the vicinity of the ridge of the field can be efficiently harvested by the first combine (1A), and the second combine can be harvested. The harvester planted in the central part of the field in (1B) can be efficiently harvested.

According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, almost all grain culms planted in the vicinity of the ridges of the field can be harvested by the first combine (1A). , Harvest loss can be reduced.

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, the second combine (1B) tramples the grain culm planted in the vicinity of the ridge of the field. This can be prevented and the harvest loss can be reduced.

According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 4, the traveling position, stop position, etc. of the first combine (1A) and the second combine (1B), etc. Can be calculated accurately, and the contact between the first combine (1A) and the second combine (1B) can be further prevented.

According to the invention of claim 6, in addition to the effect of the invention of any one of claims 1 to 5, the positioning unit is abnormal due to a communication error from the positioning satellite (11) or the base station (12). Even when the above occurs, the contact between the first combine (1A) and the second combine (1B) can be prevented, and the cutting operation can be safely performed.

It is a left side view of a medium-sized combine. It is a connection diagram of the positioning unit of a medium-sized combine. It is a connection diagram of the controller of a medium-sized combine. It is a left side view of a large combine. It is a connection diagram of the positioning unit of a large combine. It is a connection diagram of the controller of a large combine. It is explanatory drawing of the joint work of a small / medium-sized and a large-sized combine, (a) shows the 1st field, (b) shows the 2nd field. It is explanatory drawing of the driving method of a small-medium-sized combine. It is explanatory drawing of the driving method of a large combine. It is a front view of the drone. It is a connection diagram of the positioning unit of the drone. It is a connection diagram of the controller of the drone. It is explanatory drawing of the joint work of a drone and a large combine, (a) shows a drone, and (b) shows a route of a large combine. It is explanatory drawing when the obstacle moves after the obstacle is detected in front of the large combine by the drone, (a) and (b) show the drone, and (c) show the route of a large combine. It is explanatory drawing when the obstacle continues to exist after the obstacle was detected in front of the large combine by the drone, (a) and (b) show the drone, and (c) show the route of a large combine. ing. It is explanatory drawing in the case that the deviation cannot be corrected after the large combine deviates from the set harvesting route, (a) and (c) show the drone, and (b) shows the route of the large combine. It is explanatory drawing when the deviation can be corrected after the large combine deviates from the set cutting route, (a) and (c) show the drone, and (b) shows the route of a large combine. It is explanatory drawing when the traveling path of the large combine of FIG. 16 is deviated, and (a), (d) (are drones, (b), (c) show the route of a large combine. It is explanatory drawing of the driving method of a drone. It is explanatory drawing of the driving method of a large combine. It is explanatory drawing of the driving method of a large combine. It is a rear view of the traveling device, (a) is a horizontal state, (b) is an explanatory view of a state downward to the left. It is a front view of the cutting device, and is the explanatory view of the state of the grain culm sensor and the uncut grain culm.

<Collaboration between small and medium-sized combine harvesters and large-sized combine harvesters>
First, the joint work of a medium-sized combine that performs ridge cutting work and a large-sized combine that performs cutting work other than ridge cutting work will be described.

(Small / medium size combine)
As shown in FIG. 1, the combine (“first combine” in the claim) 1A is a medium-sized combine having a cutting width for cutting 3 to 4 culms planted in the field, or 2 combine harvesters. It is a small combine harvester that cuts the culm.

The combine 1A is provided with a traveling device 3A composed of a pair of left and right crawlers traveling on the soil surface under the body frame 2A, and a cutting device 3A for cutting the grain culm in the field on the front side of the body frame 2A (“No. 3” in the claim). 1 Cutting device ") 4A is provided, a threshing device (not shown) for threshing and sorting the harvested culms is provided on the rear left side of the cutting device 4A, and the operator is on the rear right side of the cutting device 4A. A control unit 6A is provided. Further, a grain tank 7A for storing threshed and sorted grains is provided on the rear side of the control unit 6A, and the fried grains extending in the vertical direction for discharging the grains to the outside are provided on the rear side of the grain tank 7A. A discharge auger 8A including a portion and a lateral discharge portion extending in the front-rear direction is provided.

As shown in FIG. 2, the positioning unit 10A, which is an RTK-GPS positioning method, is composed of a positioning satellite 11, a base station 12 provided at a known position, and a mobile station 16A provided in the combine 1A. .. As a result, the position of the mobile station 16A can be accurately obtained from the position information transmitted from the positioning satellite 11 to the mobile station 16A and the correction position information transmitted from the base station 12 to the mobile station 16A.

The base station 12 is composed of a fixed communication device 13, a fixed GPS antenna 14 that receives position information from the positioning satellite 11, and a fixed data transmission antenna 15 that transmits correction position information to the mobile station 16A. ing. Further, the mobile station 16A includes a mobile communication device 17A, a mobile GPS antenna 18A for receiving position information from the positioning satellite 11, and a mobile data transmission antenna 19A for receiving correction position information from the base station 12. It is composed of. Inside the mobile station 16A, the position information of the mobile station 16A is calculated based on the position information from the positioning satellite 11 and the position information for correction from the base station 12.

As shown in FIG. 3, the controller 20A of the combine 1A includes a processing unit 21A composed of a CPU and the like, a storage unit 22A composed of a ROM, RAM, a hard disk drive, a flash memory and the like, and a communication unit 23A for data communication with the outside. Is formed from.

The processing unit 21A is a program in which the position of the field, the shape of the field, the route of ridge cutting, the number of ridge cutting laps, the traveling speed, the carry-in position of the combine, and the carry-out position of the combine are stored in advance in the storage unit 22A. Can be read into RAM and a program can be executed to control the operation of combine 1A.

On the input side of the controller 20A, the mobile communication device 17A of the mobile station 16A, which is the position information of the combine 1A, the communication unit 23B of the combine 1B, and the left crawler 60A of the traveling device 3A are supported as shown in FIG. The left height sensor 30A supported by the frame, the right height sensor 31A supported by the frame supporting the right crawler 60B, and the left grain provided at the left end of the cutting device 4A as shown in FIG. A 稈 sensor 32A, a right inner grain sensor 33A provided at the right end of the cutting device 4A, and a right outer grain sensor 34A provided on the right side of the right inner grain sensor 33A at a predetermined interval are predetermined. It is connected via an input interface circuit. An infrared sensor or an ultrasonic sensor can be used for the left height sensor 30A, the left culm sensor 32A, and the like.

On the output side of the controller 20A, a start switch 40A for driving the traveling device 3A, a stop switch 41A for stopping the driving of the traveling device 3A, a route setting switch 42A for resetting a preset set path, and a cutting device The cutting switch 43A that drives 4A, the operation switch 45A for running HST, the left changeover switch 46A for the left transmission, the right changeover switch 47A for the right transmission, and the lift switch 48A for the lift cylinder of the cut device 4A. It is connected via a predetermined output interface circuit.

(Large combine harvester)
As shown in FIG. 4, the combine (“second combine” in the claim) 1B is a large combine having a cutting width for cutting 5 to 7 culms planted in the field.

The combine 1B is provided with a traveling device 3B composed of a pair of left and right crawlers traveling on the soil surface under the body frame 2B, and a cutting device 3B for cutting the grain culm in the field on the front side of the body frame 2B (“No. 3” in the claim). 2 Harvesting device ”) 4B is provided, a threshing device (not shown) for threshing and sorting the harvested culms is provided on the rear left side of the harvesting device 4B, and the operator is on the rear right side of the harvesting device 4B. A control unit 6B is provided. Further, a grain tank 7B for storing threshed and sorted grains is provided on the rear side of the control unit 6B, and the fried grains extending in the vertical direction for discharging the grains to the outside are provided on the rear side of the grain tank 7B. A discharge auger 8B including a portion and a lateral discharge portion extending in the front-rear direction is provided.

As shown in FIG. 5, the positioning unit 10B, which is an RTK-GPS positioning method, is composed of a positioning satellite 11, a base station 12 provided at a known position, and a mobile station 16B provided in the combine 1B. .. As a result, the position of the mobile station 16B can be accurately obtained from the position information transmitted from the positioning satellite 11 to the mobile station 16B and the correction position information transmitted from the base station 12 to the mobile station 16B.

The base station 12 includes a fixed communication device 13, a fixed GPS antenna 14 that receives position information from the positioning satellite 11, and a fixed data transmission antenna 15 that transmits correction position information to the mobile station 16B. ing. Further, the mobile station 16B includes a mobile communication device 17B, a mobile GPS antenna 18B for receiving position information from the positioning satellite 11, and a mobile data transmission antenna 19B for receiving correction position information from the base station 12. It is composed of. Inside the mobile station 16B, the position information of the mobile station 16B is calculated based on the position information from the positioning satellite 11 and the position information for correction from the base station 12.

As shown in FIG. 6, the controller 20B of the combine 1B includes a processing unit 21B composed of a CPU and the like, a storage unit 22B composed of a ROM, RAM, a hard disk drive, a flash memory and the like, and a communication unit 23B for data communication with the outside. Is formed from.

The processing unit 21B RAMs a program stored in the storage unit 22B in advance, which stores the position of the field, the shape of the field, the cutting route, the number of cutting laps, the traveling speed, the carry-in position of the combine, and the carry-out position of the combine. It can be read into and the program can be executed to control the operation of combine 1B.

On the input side of the controller 20B, the mobile communication device 17B of the mobile station 16B, which is the position information of the combine 1B, the communication unit 23A of the combine 1A, the communication unit 23C of the drone 50, and traveling as shown in FIG. The left height sensor 30B supported by the frame supporting the left crawler 60B of the device 3B, the right height sensor 31B supported by the frame supporting the right crawler 61B, and the cutting device 4B as shown in FIG. The left grain sensor 32B provided at the left end, the right inner grain sensor 33B provided at the right end of the cutting device 4B, and the right inner grain sensor 33B provided at a predetermined interval on the right side of the right inner grain sensor 33B. The outer grain sensor 34B is connected via a predetermined input interface circuit. An infrared sensor or an ultrasonic sensor can be used for the left height sensor 30B, the left culm sensor 32B, and the like.

On the output side of the controller 20B, a start switch 40B for driving the traveling device 3B, a stop switch 41B for stopping the driving of the traveling device 3B, a route setting switch 42B for resetting a preset set path, and a cutting device The cutting switch 43B for driving 4B, the operation switch 45B for running HST, the left changeover switch 46B for the left transmission, the right changeover switch 47B for the right transmission, and the lift switch 48B for the lift cylinder of the cut device 4B. It is connected via a predetermined output interface circuit.

(group work)
As shown in FIG. 7, after the small and medium-sized combine 1A performs the ridge cutting work in the field, the large combine 1B performs the cutting work other than the ridge cutting in the field. As a result, the first combine 1A can mow the outer periphery of the field where there are many soft areas, reduce running troubles due to subsidence, shorten the mowing work time, and mow the culm planted at the ridge. The residue can be reduced. In addition, the cutting work inside the field can be performed with the second combine 1B, which can cut many grain culms at one time, and the cutting work time can be significantly shortened, and the efficiency of the cutting work can be improved. ..

The combine 1A moves into the first field to perform the ridge cutting work, and when the ridge cutting work is completed, it moves to the outside of the first field. Next, the combine 1A moves into the second field to perform the ridge cutting work, and when the ridge cutting work is completed, moves to the outside of the second field.

The combine 1B is said that after the communication unit 23B of the combine 1B receives the information that the combine 1A has moved out of the first field, it moves into the first field to perform the cutting work, and the cutting work is completed. 1 Move out of the field. Next, in the combine 1B, after the communication unit 23B of the combine 1B receives the information that the combine 1A has moved out of the second field, the combine 1B moves into the second field to perform the cutting work, and the cutting work is completed. Then move out of the second field. As a result, even if an abnormality occurs in the positioning units 10A and 10B due to a communication error from the positioning satellite 11 or the base station 12, contact between the combine 1A and the combine 1B can be prevented and the cutting work can be performed safely. ..

(How to drive a small / medium-sized combine harvester)
As shown in FIG. 8, in step S1A, the combine 1A stops at a standby position outside the first field, and then the processing unit 21A of the controller 20A has the shape of the first field stored in the storage unit 22A. The setting route of the ridge cutting work, the set number of laps of the ridge cutting work, the set running speed, the carry-in position of the combine, the carry-out position of the combine, the field where the work is performed on the day, etc. are read and the process proceeds to step S2A.

In step S2A, the processing unit 21A inputs the harvesting switch 43A to drive the combine 1A, moves the combine 1A from the carry-in position of the combine to the first field, and then sets the ridge cutting work setting route and the ridge cutting work. The ridge mowing work is started based on the set number of laps and the set running speed, and the process proceeds to step S3A. As a result, the ridge cutting work can be performed on the combine 1 having a small turning radius to reduce the uncut portion of the grain culm, and the turning space of the large combine 1B can be efficiently formed. In FIG. 7, the set number of laps of the ridge cutting work is shown at one time, but it is often set to 2 to 4 times.

In step S3A, the processing unit 21A determines whether or not the ridge cutting work has been completed, for example, whether or not the number of laps that the combine 1A actually performed the ridge cutting work has reached the set number of laps. If is less than the set number of laps, it is determined that the ridge cutting work has not been completed, and the process returns to step S2A. If the number of laps reaches the set number of laps, it is determined that the ridge cutting work has been completed. To step S4A.

In step S4A, the processing unit 21A moves the combine 1A from the carry-out position of the combine to the evacuation position outside the first field, and proceeds to step S5A.

In step S5A, the communication unit 23A transmits information that the combine 1A has moved to the evacuation position outside the first field to the communication unit 23B of the combine 1B, and proceeds to step S6A.

In step S6A, the processing unit 21A determines whether or not there is a second field in which the combine 1A subsequently performs the ridge cutting work, and if there is a second field, proceeds to step S7A and there is no second field. In that case, the series of work is completed.

In step S7A, the processing unit 21A inputs the start switch 40A to drive the combine 1A, moves it to the standby position of the second field, and returns to step S1A. In step S1A, the processing unit 21A performs the shape of the second field, the setting route of the ridge cutting work, the set number of laps of the ridge cutting work, the set running speed, the carry-in position of the combine, the carry-out position of the combine, and the work on the day. Read the field to be harvested.

(How to drive a large combine harvester)
As shown in FIG. 9, in step S1B, the combine 1B stops at a standby position outside the first field, and then the processing unit 21B of the controller 20B causes the combine 1A to evacuate from the first field by the communication unit 23B. Determine whether or not the information moved to the position is received. If the combine 1A has not moved to the evacuation position outside the first field, the process proceeds to step S2B, and if the combine 1A has moved to the evacuation position outside the first field, the process proceeds to step S3B. As a result, the ridge cutting work and the cutting work can be safely performed by preventing the combine 1A and the combine 1B from coming into contact with each other in the first field.

Further, it is preferable to calculate the time for completing the ridge cutting work of the combine 1A from the traveling speed of the combine 1A, and move the combine 1B to the standby position of the first field before the ridge cutting work of the combine 1A is completed. As a result, the time required for the combine 1B to move can be reduced and the working time can be shortened.

In step S2B, the processing unit 21B inputs the stop switch 41B to continuously stop the combine 1B at the standby position outside the first field and returns to step S1B.

In step S3B, the processing unit 21B inputs the start switch 40B to drive the combine 1B, moves the combine 1B from the carry-in position of the combine to the first field, and proceeds to step S4B.

In step S4B, the processing unit 21B uses the shape of the first field stored in the storage unit 22B, the setting route of the harvesting work, the set number of laps of the cutting work, the set traveling speed, the carry-in position of the combine, the carry-out position of the combine, and The field or the like to be worked on the day is read and the process proceeds to step S5B. The set route can be a combination of an orbital route that goes around the field counterclockwise, a straight route that goes straight from one side of the field to the other side, and a backward route that goes backward from one side of the field to the other side. ..

In step S5B, the processing unit 21B inputs the cutting switch 43B to start the cutting work based on the set route of the cutting work, the set number of laps of the cutting work, and the set traveling speed, and proceeds to step S6B. As a result, the harvesting work can be efficiently performed with the combine 1B having a high cutting ability. In FIG. 7, the set number of laps of the cutting work is shown in two laps, but it can be set to an arbitrary number of laps based on the size of the first field.

In step S6B, the processing unit 21B determines whether or not the cutting work has been completed, for example, whether or not the number of laps that the combine 1B has performed the cutting work has reached the set number of laps, and the number of laps is the set number of laps. If the number is less than, it is determined that the cutting work has not been completed and the process returns to step S5B. If the actual number of laps reaches the set number of laps, it is determined that the cutting work has been completed and the process proceeds to step S7B. ..

In step S7B, the processing unit 21B moves the combine 1B from the carry-out position of the combine to the evacuation position outside the first field, and proceeds to step S8B.

In step S8B, the processing unit 21B determines whether or not there is a second field in which the combine 1B subsequently performs the ridge cutting work, and if there is a second field, proceeds to step S9B and there is no second field. In that case, the series of work is completed.

In step S9B, the processing unit 21B inputs the start switch 40B to drive the combine 1B, moves it to the standby position of the second field, stops, and returns to step S1B. In step S1B, the processing unit 21B determines whether or not the information that the combine 1A has moved to the evacuation position outside the second field is received by the communication unit 23B.

<Collaboration between drone and large combine harvester>
Next, we will explain the collaboration between drones and large combines led by drones.

(Drone)
As shown in FIG. 10, the drone 50 is equipped with a camera 51 that photographs a field at the bottom of the main body.

As shown in FIG. 11, the positioning unit 10C, which is an RTK-GPS positioning method, is composed of a positioning satellite 11, a base station 12 provided at a known position, and a mobile station 16C provided in the drone 50. .. As a result, the position of the mobile station 16C can be accurately obtained from the position information transmitted from the positioning satellite 11 to the mobile station 16C and the correction position information transmitted from the base station 12 to the mobile station 16C.

The base station 12 is composed of a fixed communication device 13, a fixed GPS antenna 14 that receives position information from the positioning satellite 11, and a fixed data transmission antenna 15 that transmits correction position information to the mobile station 16C. ing. Further, the mobile station 16C includes a mobile communication device 17C, a mobile GPS antenna 18C for receiving position information from the positioning satellite 11, and a mobile data transmission antenna 19C for receiving correction position information from the base station 12. It is composed of. Inside the mobile station 16C, the position information of the mobile station 16C is calculated based on the position information from the positioning satellite 11 and the position information for correction from the base station 12.

As shown in FIG. 12, the controller 20C of the drone 50 includes a processing unit 21C composed of a CPU and the like, a storage unit 22C composed of a ROM, RAM, a hard disk drive, a flash memory and the like, and a communication unit 23C for data communication with the outside. Is formed from.

The processing unit 21C stores a program stored in the storage unit 22C in advance, which stores the position of the field, the shape of the field, the flight path corresponding to the cutting route, the flight height, and the flight speed corresponding to the traveling speed of the combine. It can be read into RAM and a program can be executed to control the operation of the drone 50.

On the input side of the controller 20C, the mobile communication device 17C of the mobile station 16C, which is the position information of the drone 50, and the communication unit 23B of the combine 1B are connected via a predetermined input interface circuit.

On the output side of the controller 20C, a route setting switch 42C for resetting a preset setting path and a camera 51 are connected via a predetermined output interface circuit.

(Large combine harvester)
As shown in FIGS. 4 to 6, the above-mentioned large combine 1B can be used.

(group work)
As shown in FIG. 13, when the camera 51 of the drone 50 does not photograph the obstacle in front of the combine 1B, the combine 1B travels along the same cutting work setting route as the flight route of the drone 50. Note that FIG. 13A illustrates the flight path of the drone 50, and FIG. 13B illustrates the setting path of the combine 1B.

As shown in FIG. 14, an obstacle in front of the combine 1B was photographed by the camera 51, but after that, just before the obstacle crosses the set path and the combine 1B passes, the camera 51 in front of the combine 1B. When the obstacle is not photographed, the combine 1B travels along the same cutting work setting route as the flight route of the drone 50. Note that FIG. 14 (a) illustrates a state in which there is an obstacle on the flight path of the drone 50, and FIG. 14 (b) illustrates a state in which there is no obstacle on the flight path of the drone 50. (C) illustrates the setting route of the combine 1B.

As shown in FIG. 15, when the obstacle in front of the combine 1B is photographed by the camera 51 and the obstacle in front of the combine 1B is continuously photographed by the camera 51 even immediately before the combine 1B passes through. , The combine 1B deviates from the flight path of the drone 50, travels the avoidance route to avoid obstacles, and then travels the combine 1B again along the flight path of the drone 50. The avoidance route can be set by the processing unit 21B based on the information such as the position and size of the obstacle transmitted from the communication unit 23C of the drone 50 received by the communication unit 23B of the combine 1B. As a result, contact between the combine 1B and an obstacle can be prevented. Note that FIG. 15 (a) illustrates a state in which there is an obstacle on the flight path of the drone 50, and FIG. 15 (b) illustrates a state in which there is an obstacle on the flight path of the drone 50. , FIG. 15C illustrates the setting route and avoidance route of the combine 1B.

As shown in FIG. 16, if the combine 1B recovers to the set path within a predetermined distance and time after the combine 1B deviates from the set path, the drone 50 maintains the flight path. As a result, when the combine 1B is displaced in the left-right direction due to mud scattered in the field, it is not necessary to frequently reset the flight path of the drone 50, and the efficiency of the cutting work as a whole can be improved. Note that FIG. 16A illustrates the flight path of the drone 50, FIG. 16B illustrates a state in which the combine 1B deviates from the set path, and FIG. 16C illustrates the state in which the combine 1B deviates from the set path. FIG. 16 (d) illustrates the state in which the flight path of the drone 50 is maintained.

As shown in FIG. 17, if the combine 1B deviates from the set route and then the combine 1B deviates from the set route even after a predetermined distance and time have passed, the drone 50 resets the flight route. As a result, even if the combine 1B is largely displaced in the left-right direction due to mud or the like scattered in the field, the drone 50 can subsequently efficiently monitor the front of the combine 1B. Note that FIG. 17A illustrates the flight path of the drone 50, FIG. 17B illustrates the state in which the combine 1B deviates from the set path, and FIG. 17C shows the flight path of the drone 50. The state in which is reset is shown.

(How to drive the drone)
As shown in FIG. 18, in step S1C, the drone 50 stops at the standby position above the field, and then the processing unit 21C of the controller 20C determines the position of the field and the shape of the field stored in the storage unit 22C. , The flight path corresponding to the harvesting route, the flight height, the flight speed corresponding to the traveling speed of the combine, and the like are read, and the process proceeds to step S2C.

In step S2C, the processing unit 21C drives the camera 51 to take a picture of the field, particularly a part located in front of the combine 1B in the field, and proceeds to step S3C.

In step S3C, the processing unit 21C determines whether or not there is an obstacle in the field located in front of the combine 1B that hinders the running of the combine 1B. If it is determined that there is no obstacle, the process proceeds to step S4C, and if it is determined that there is an obstacle, the communication unit 23C tells the communication unit 23B of the combine 1B that there is an obstacle in front of the combine 1B. Send information.

In step S4C, the processing unit 21C determines whether or not the communication unit 23C has received the information that the combine 1B has stopped traveling. If the combine 1B has not paused the running, the process proceeds to step S5C, and if the combine 1B has paused the running, the process returns to step S1C. As a result, when the combine 1B is paused due to an obstacle, the drone 50 sets a flight path for a new cutting route corrected for the pause time, and subsequently monitors the front of the combine 1B. Can be done.

In step S5C, the processing unit 21C determines whether or not the combine 1B has set the avoidance route by the communication unit 23C and has received the information that the combine harvester has moved. If the combine 1B has set an avoidance route, the process proceeds to step S6C, and if the combine 1B has not set an avoidance route, the process proceeds to step S7C.

In step S6C, the processing unit 21C activates the route setting switch 42C, sets a flight route for the new cutting route of the drone 50, and proceeds to step S7C. Further, the communication unit 23C transmits the captured image of the camera 51 to the communication unit 23B of the combine 1B. As a result, the drone 50 can set a flight path for the new cutting path and prevent the combine 1B from coming into contact with an obstacle.

In step S7C, the processing unit 21C determines whether or not the cutting work has been completed, for example, the processing unit 21C determines whether or not the drone 50 is located at the end of the flight path, and the drone 50 determines whether or not the drone 50 is located in the flight path. If it has flown to the end, it is determined that the mowing work has been completed and the flight of the drone 50 is terminated. If the drone 50 has not flown to the end of the flight path, the mowing work is completed. It is determined that it is not, and the process returns to step S1C. In step S1C, the flight path, the flight height, the flight speed corresponding to the traveling speed of the combine, and the like are read from the flying position to the cutting route in the flying direction.

(How to drive a large combine harvester)
As shown in FIGS. 19 and 20, in step S1D, the combine 1B stops at the standby position outside the field, and then the processing unit 21B of the controller 20B is the position of the field and the field stored in the storage unit 22B. The shape, the set route of the cutting work, the set running speed, etc. are read and the process proceeds to step S2D.

In step S2D, the processing unit 21B inputs the start switch 40B, starts the cutting work based on the set route, the set running speed, and the like, and proceeds to step S3D.

In step S3D, the processing unit 21B determines whether or not the information of the captured image of the camera 51 of the drone 50 is received by the communication unit 23B. If the information of the captured image of the camera 51 is received, the process proceeds to step S4D, and if the information of the captured image of the camera 51 is not received, the process proceeds to step S17D.

In step S4D, the processing unit 21B determines whether or not an obstacle is photographed in front of the combine 1B in the image captured by the camera 51. If an obstacle is photographed in front of the combine 1B in the image captured by the camera 51, the process proceeds to step S5D, and if an obstacle is not photographed in front of the combine 1B in the image captured by the camera 51, the step is performed. Proceed to S9D.

In step S5D, the processing unit 21B inputs the stop switch 41B to suspend the traveling of the combine 1B. This makes it possible to prevent the combine 1B from colliding with an obstacle. Further, the processing unit 21B transmits information that the combine 1B has stopped traveling to the communication unit 23C of the drone 50 via the communication unit 23B.

In step S6D, the processing unit 21B determines whether or not an obstacle is photographed in front of the combine 1B in the photographed image of the camera 51 for a predetermined time. If an obstacle is photographed in front of the combine 1B in the image captured by the camera 51 for a predetermined time, the process proceeds to step S7D, and the obstacle is in front of the combine 1B in the image captured by the camera 51 for a predetermined time. If the image has not been taken, the process proceeds to step S9D. As a result, if the obstacle is a movable obstacle such as a small animal, there will be a time delay, but the small animal will wait for the set route to cross and mow along the set route again. Can work.

In step S7D, the processing unit 21B inputs the route setting switch 42B to set an avoidance route for avoiding obstacles, and proceeds to step S8D. The avoidance route is set based on information such as the position and size of the obstacle transmitted from the communication unit 23C of the drone 50. As a result, contact between the combine 1B and an obstacle can be prevented.

In step S8D, the processing unit 21B operates the transmission changeover switches 46B, 47B and the like that accelerate and decelerate the rotational speed of the pair of crawlers of the traveling device 3B, moves along the avoidance path, and proceeds to step S9D. Further, the processing unit 21B transmits information that the combine 1B is moving on the avoidance route to the communication unit 23C of the drone 50 via the communication unit 23B.

In step S9D, the processing unit 21B determines whether or not the position information of the combine 1B input from the mobile communication device 17B is on the preset set path. If the position information of the combine 1B input from the mobile communication device 17B is not on the set path, the process proceeds to step S10D, and the position information of the combine 1B input from the mobile communication device 17B is on the set path. To step S11D.

In step S10D, when the position information of the combine 1B input from the mobile communication device 17B is located on the left side of the set path, the processing unit 21B increases the rotation speed of the left crawler 60B of the traveling device 3B. Therefore, the left changeover switch 46B of the left transmission is operated to the speed increasing side, and the right changeover switch 47B of the right transmission is operated to the deceleration side in order to reduce the rotation speed of the right crawler 61B of the traveling device 3B. On the other hand, when the position information of the combine 1B input from the mobile communication device 17B is located on the right side of the set path, the processing unit 21B is left to reduce the rotation speed of the left crawler 60B of the traveling device 3B. The left changeover switch 46B of the transmission is operated to the deceleration side, and the right changeover switch 47B of the right transmission is operated to the speed increase side in order to increase the rotation speed of the right crawler 61B of the traveling device 3B. As a result, the combine 1B can be positioned on the set path.

In step S11D, the processing unit 21B determines the collapsed state of the grain culm planted in front of the combine 1B photographed by the camera 51. If the culm is lying down, the process proceeds to step S12D, and if the culm is not lying down, the process proceeds to step S17D.

In step S12D, the processing unit 21B operates the operation switch 45B to reduce the traveling speed of the traveling device 3B to a low speed, and proceeds to step S13D. As a result, it is possible to prevent the cut grain culm from being clogged in the transport path of the cutting device 4B.

In step S13D, the processing unit 21B operates the elevating switch 4B to lower the cutting device 4B from the normal cutting position, and proceeds to step S14D. As a result, the lower part of the culm that has fallen down can be efficiently cut by the cutting blade extending in the left-right direction of the cutting device 4B.

In step S14D, the processing unit 21B determines the collapsed state of the grain culm planted in front of the combine 1B photographed by the camera 51. If the culm is lying down, the process proceeds to step S12D, and if the culm is not lying down, the process proceeds to step S15D.

In step S15D, the processing unit 21B operates the operation switch 45B to increase the traveling speed of the traveling device 3B to the set traveling speed, and proceeds to step S16D. As a result, the culm can be efficiently cut by the cutting device 4B.

In step S16D, the processing unit 21B operates the elevating switch 4B to raise the cutting device 4B to the normal cutting position, and proceeds to step S17D. As a result, the culm can be efficiently cut by the cutting device 4B.

In step S17D, the processing unit 21B determines whether or not the cutting work has been completed, for example, the processing unit 21B determines whether or not the combine 1B is located at the end of the cutting route, and the combine 1B is on the cutting route. If it is located at the end, it is determined that the cutting work has been completed, and the process proceeds to step S18D. If the combine 1B is not located at the end of the cutting path, the cutting work is completed. Judge that it is not, and proceed to step S2D. In the step S2D, the cutting route ahead, the traveling speed of the combine, and the like are read from the current cutting work position.

In step S18D, the processing unit 21B displays on the monitor of the control unit 6B that the cutting work has been completed.

<How to maintain horizontal in the left-right direction>
Next, a method of maintaining the horizontal level of the combine in the left-right direction will be described by taking a large combine 1B as an example.

As shown in FIG. 21, when the driving force of the left crawler 60B of the traveling device 3B is not transmitted to the field scene and the left crawler 60B sinks below the right crawler 61B, it is provided at the lower left side of the traveling device 3B. A signal indicating that the lower left side of the traveling device 3B is close to the field is input to the controller 20B from the left height sensor 30B.

In such a case, the processing unit 21B operates the left changeover switch 46B to increase the speed to increase the rotation speed of the left crawler 60B. As a result, the combine 1B can be kept horizontal in the left-right direction, the combine 1B can be prevented from moving forward on the left side, and the combine 1B can be efficiently moved straight.

On the other hand, when the driving force of the right crawler 61B of the traveling device 3B is not transmitted to the field scene and the right crawler 61B sinks below the left crawler 60B, the right height provided in the lower right portion of the traveling device 3B. A signal indicating that the lower right side of the traveling device 3B is close to the field is input from the sensor 31B to the controller 20B.

In such a case, the processing unit 21B operates the right changeover switch 47B to increase the speed to increase the rotation speed of the right crawler 61B. As a result, the combine 1B can be kept horizontal in the left-right direction, the combine 1B can be prevented from moving forward on the right side, and the combine 1B can be efficiently moved straight.

<How to maintain the cutting route>
Next, a method of maintaining the harvesting route of the combine will be described by taking a large combine 1B as an example.

As shown in FIG. 22, a left grain culm sensor 32B for detecting uncut culms is provided at the left end of the reaping device 4B, and a right inner right portion for detecting uncut culms is provided at the right end of the reaping device 4B. A grain culm sensor 33B is provided, and a right outer culm sensor 33B for detecting uncut culm is provided at a portion extending to the right side of the cutting device 4B.

When the combine 1B is located on the set cutting path, the left grain culm sensor 32B and the right inner grain culm sensor 33B detect the uncut culm, and the controller 20B detects the uncut culm. Input a signal to that effect.

On the other hand, when the combine 1B deviates to the left side of the set harvesting route, the left grain culm sensor 32B detects the uncut grain culm and inputs a signal to the controller 20B that the uncut culm has been detected. To do. In such a case, the processing unit 21B operates the left changeover switch 46B to increase the speed to increase the rotation speed of the left crawler 60B. As a result, the combine 1B can be turned forward on the right side to position the combine 1B on the set cutting path.

On the other hand, when the combine 1B deviates to the right side of the set cutting path, the left grain culm sensor 32B, the right inner grain culm sensor 33B, and the right outer grain culm sensor 33B detect the uncut culm. A signal indicating that an uncut culm has been detected is input to the controller 20B. In such a case, the processing unit 21B operates the right changeover switch 47B to increase the speed to increase the rotation speed of the right crawler 61B. As a result, the combine 1B can be turned forward on the left side to position the combine 1B on the set cutting path.

1A combine (1st combine)
1B combine (second combine)
4A reaping device (first reaping device)
4B reaping device (second reaping device)
11 Positioning satellite 12 Base station 22B Storage unit

Claims (6)

It is a reaping work method to mow the culms planted in the field using multiple combines.
The first combine (1A) was run along the preset first cutting route to cut the culms planted near the ridges of the field, and then moved to the outside of the field.
After the first combine (1A) moves to the outside of the field, the second combine (1B) is moved to the inside of the field to cut the uncut culm along a preset second cutting route. A harvesting work method characterized by having the harvester perform. The first cutting route is set as a route that goes around the outer periphery of the field in a counterclockwise direction.
The second cutting route goes around the inside of the first cutting route in a counterclockwise direction, or goes straight from one side of the field to the other side, then changes direction and goes straight from the other side to one side. The cutting work method according to claim 1, which is set as the third route. The number of cutting rows of the first cutting device (4A) provided in the first combine (1A) was set to be smaller than the number of cutting rows of the second cutting device (4B) provided in the second combine (1B). The harvesting work method according to claim 1 or 2. Any one of claims 1 to 3 in which a space for changing the direction of the second combine (1B) is formed on the outer peripheral portion of the field by the cutting operation along the first cutting route of the first combine (1A). The harvesting work method described in the section. Claims 1 to 4 where the positions of the first combine (1A) and the second combine (1B) are calculated based on information from the positioning satellite (11) and the base station (12) whose positions are known in advance. The cutting work method according to any one of the above. The second combine (1B) receives the information that the first combine (1A) has moved to the outside of the first field by the communication unit (23B) provided in the second combine (1B), and then the second combine (1B) has the first combine. After moving to the inside of one field to perform cutting work and receiving information from the communication unit (23B) that the first combine (1A) has moved to the outside of the second field, the inside of the second field The harvesting work method according to any one of claims 1 to 5, wherein the harvesting work is performed by moving.

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